#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"

MPU6050 mpu;
int16_t ax, ay, az, gx, gy, gz;

void setup()
{
  Wire.begin();
  Serial.begin(115200);
  delay(1000);
  mpu.initialize();
}

void loop()
{
  Serial.print("getFullScaleGyroRange: ");
  Serial.println(mpu.getFullScaleGyroRange());
  Serial.print("getFullScaleAccelRange: ");
  Serial.println(mpu.getFullScaleAccelRange());

  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

  Serial.print("getMotion6: ");
  Serial.print(ax); Serial.print(",");
  Serial.print(ay); Serial.print(",");
  Serial.print(az); Serial.print(",");
  Serial.print(gx); Serial.print(",");
  Serial.print(gy); Serial.print(",");
  Serial.print(gz); Serial.println();

  delay(500);
}
